From 336d19d887084c874b90fce9b38986e15d73272a Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Mon, 19 Sep 2016 18:34:28 +0200
Subject: [PATCH] enable compatibility pinocchi 1.1.0
---
tests/TestNaveau2015.cpp | 4 ++--
tests/TestObject.cpp | 10 ++++++----
2 files changed, 8 insertions(+), 6 deletions(-)
diff --git a/tests/TestNaveau2015.cpp b/tests/TestNaveau2015.cpp
index 790e2b71..2e5b50c9 100644
--- a/tests/TestNaveau2015.cpp
+++ b/tests/TestNaveau2015.cpp
@@ -39,8 +39,8 @@
#include "TestObject.hh"
#include "MotionGeneration/ComAndFootRealizationByGeometry.hh"
-#include "pinocchio/multibody/parser/urdf.hpp"
-#include "pinocchio/multibody/parser/srdf.hpp"
+//#include "pinocchio/multibody/parser/urdf.hpp"
+//#include "pinocchio/multibody/parser/srdf.hpp"
using namespace std;
using namespace PatternGeneratorJRL;
diff --git a/tests/TestObject.cpp b/tests/TestObject.cpp
index 140706f4..66df47c9 100644
--- a/tests/TestObject.cpp
+++ b/tests/TestObject.cpp
@@ -28,8 +28,8 @@
#include <fstream>
#include "Debug.hh"
#include "TestObject.hh"
-#include "pinocchio/multibody/parser/urdf.hpp"
-#include "pinocchio/multibody/parser/srdf.hpp"
+#include "pinocchio/parsers/urdf.hpp"
+#include "pinocchio/parsers/srdf.hpp"
using namespace std;
#define NB_OF_FIELDS 39
@@ -305,7 +305,8 @@ namespace PatternGeneratorJRL
aFoot.anklePosition(1) = v.second.get<double>("y");
aFoot.anklePosition(2) = v.second.get<double>("z");
}
- aFoot.associatedAnkle = aModel->getBodyId("r_ankle");
+ se3::FrameIndex ra = aModel->getFrameId("r_ankle");
+ aFoot.associatedAnkle = aModel->frames[ra].parent ;
aPR.initializeRightFoot(aFoot);
// Initialize the Left Foot
@@ -323,7 +324,8 @@ namespace PatternGeneratorJRL
aFoot.anklePosition(1) = v.second.get<double>("y");
aFoot.anklePosition(2) = v.second.get<double>("z");
}
- aFoot.associatedAnkle = aModel->getBodyId("l_ankle");
+ se3::FrameIndex la = aModel->getBodyId("l_ankle");
+ aFoot.associatedAnkle = aModel->frames[la].parent ;
aPR.initializeLeftFoot(aFoot);
}
--
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